Object size estimation system and method and warehouse capacity estimation system and method

[0049] refer to figure 1 , this embodiment provides an object size estimation system.

[0050] The object size estimation system includes: an object to be measured 1, a first support 2, a photographing device 3, an object carrying device 4 and an estimation module (not shown in the figure).

[0051] The object to be measured 1 is an object whose size needs to be estimated.

[0052] The object carrying device 4 is used to carry the object 1 to be measured; in this embodiment, the object carrying device 4 is an AGV, namely an automatic guided vehicle.

[0053] The first bracket 2 is provided with a shooting device 3 for shooting depth images and color images; in this embodiment, the first bracket 2 is a gantry frame, and the shooting device 3 includes a depth camera and an RGB camera. The depth camera and the RGB camera are arranged on the beam of the gantry; the depth camera and the RGB camera are two independent cameras.

[0054] The working process of the system is as foll...

[0056] refer to figure 2 , the object size estimation system includes: an object to be measured 1 , a first support 2 , a photographing device 3 , an object carrying device 4 , an estimation module (not shown in the figure) and a reference device 5 .

[0057]The reference device 5 is used to provide a directional reference and / or a dimensional reference. In this embodiment, the cargo carrying device 4 is a manual forklift. The forklift includes a handle, a base and a fork. The entire handle provides a direction reference, and the handle seat at the bottom of the handle provides a size reference. It can be understood that, in other cases, the reference device 5 is not a part of the cargo carrying device 4, and can be arranged on the cargo carrying device 4 or in other places, and the shape of the reference device 4 is such as Said to be cylindrical, it or the reference mechanism can be a bracket structure, which includes a second bracket, a third bracket and a fourth bracket,...

[0061] This embodiment provides a method for estimating the size of an object.

[0062] refer to image 3 , the object size estimation method includes:

[0063] Obtain depth image and color image;

[0064] Determine the imaging range;

[0065] Estimating the size of the object to be measured.

[0066] The obtained depth image and color image are obtained by shooting through the shooting device 3 . Specifically, before the photographing device 3 takes pictures, the object carrying device 4 loads the object to be measured 1 and passes under the first support 2 or loads the object to be measured 1 to the first support Any specific location below. The shooting activity can be that the object to be measured 1 is carried by the object carrying device 4 during the motion process, or it can be taken when it is stationary at the specific position. The depth image is mainly used for size estimation, and the color image is used together with the depth image to determine the imaging...